/*
 * lws-minimal-ws-client-ping
 *
 * Written in 2010-2020 by Andy Green <andy@warmcat.com>
 *
 * This file is made available under the Creative Commons CC0 1.0
 * Universal Public Domain Dedication.
 *
 * This demonstrates keeping a ws connection validated by the lws validity
 * timer stuff without having to do anything in the code.  Use debug logging
 * -d1039 to see lws doing the pings / pongs in the background.
 */

#include <libwebsockets.h>
#include <string.h>
#include <signal.h>
#include <stdio.h>
#include <stdbool.h>
#if defined(WIN32)
#define HAVE_STRUCT_TIMESPEC
#if defined(pid_t)
#undef pid_t
#endif
#endif
#include <pthread.h>
//.build/x86_64/ws_client_ros1bridge/ws_client_ros1bridge --server 192.168.1.83 --port 16668
static struct lws_context *context;
static struct lws *client_wsi;
static int interrupted, port = 9091, ssl_connection = LCCSCF_USE_SSL;
//static const char *server_address = "libwebsockets.org", *pro = "lws-mirror-protocol";
static const char *server_address = "192.168.1.83", *pro = "lws-mirror-protocol";
static const char *server_host = "192.168.1.83:9090";
static lws_sorted_usec_list_t sul;

static const lws_retry_bo_t retry = {
	.secs_since_valid_ping = 3,
	.secs_since_valid_hangup = 10,
};

static void connect_cb(lws_sorted_usec_list_t *_sul)
{
	struct lws_client_connect_info i;

	lwsl_notice("%s: connecting\n", __func__);

	memset(&i, 0, sizeof(i));

	i.context = context;
	i.port = port;
	i.address = server_address;
	i.path = "/";
	//i.host = i.address;
	i.host = server_host;
	i.origin = i.address;
	//i.ssl_connection = ssl_connection;
	i.protocol = pro;
	i.alpn = "h2;http/1.1";
	i.local_protocol_name = "lws-ping-test";
	i.pwsi = &client_wsi;
	i.retry_and_idle_policy = &retry;

	if (!lws_client_connect_via_info(&i))
		lws_sul_schedule(context, 0, _sul, connect_cb,
        5 * LWS_USEC_PER_SEC);
}
//#define sub1 "{ \"op\": \"subscribe\", \"topic\": \"/chatter\", \"type\": \"std_msgs/String\" }"
#define sub1 "{\"op\": \"subscribe\", \"type\": \"std_msgs/String\", \"topic\": \"/chatter\"}"
//#define pub1 "{\"op\": \"publish\", \"type\": \"std_msgs/String\", \"topic\": \"/chatter\", \"msg\": {\"data\": \"Hello, ss\"}}"
#define pub1 "{\"op\": \"publish\", \"type\": \"geometry_msgs/Twist\", \"topic\": \"/chatterss\", \"msg\": {\"linear\": {\"x\": 0.5, \"y\": 0.0, \"z\": 0.0}, \"angular\": { \"x\": 0.0, \"y\": 0.0, \"z\": 0.1}}}"
int write_succeed = false;
void *send_message(void *wsi)
{
  const char message[1024];
  int ret, n;
  n = lws_snprintf((char *)message + LWS_PRE,
      sizeof(message) - LWS_PRE, "%s", pub1);//sub1);
      //sizeof(message) - LWS_PRE, "%s", sub1);//sub1);
  printf("Message will sent: %s\n", message+LWS_PRE);
  /*
  while (1) {
    usleep(1000*1000/5);
    */
    ret = lws_write(wsi, (unsigned char *)message+ LWS_PRE,
        n, LWS_WRITE_TEXT);
    if (ret < 0) {
        printf("Error sending message: %d\n", ret);
    } else {
      write_succeed = true;
      printf("Message sent: succeed\n");
    }
  //}
  return NULL;
}
void *global_wsi = NULL;
int writeable = false;
static int callback_minimal_pingtest(struct lws *wsi,
    enum lws_callback_reasons reason, void *user, void *in, size_t len)
{
	switch (reason) {
    case LWS_CALLBACK_CLIENT_RECEIVE:
      printf("Received data: %.*s\n", (int)len, (char *)in);
      break;
    case LWS_CALLBACK_CLIENT_CONNECTION_ERROR:
      lwsl_err("CLIENT_CONNECTION_ERROR: %s\n",
         in ? (char *)in : "(null)");
      lws_sul_schedule(context, 0, &sul, connect_cb,
          5 * LWS_USEC_PER_SEC);
      break;
    case LWS_CALLBACK_CLIENT_ESTABLISHED:
      lwsl_user("%s: established\n", __func__);
      break;
    case LWS_CALLBACK_CLIENT_WRITEABLE:
      global_wsi = wsi;
      writeable = true;
      lwsl_user("LWS_CALLBACK_CLIENT_WRITEABLE\n");
      if (!write_succeed) {
        //send_message(wsi);
      }
  //lws_set_timeout(wsi, PENDING_TIMEOUT_USER_OK, LWS_TO_KILL_ASYNC);
      break;
    default:
      break;
	}
	return lws_callback_http_dummy(wsi, reason, user, in, len);
}
struct lws_protocols protocols[] = {
    {
        .name = "rosbridge_protocol",
       // .callback = callback_rosbridge,
        .callback = callback_minimal_pingtest,
        .per_session_data_size = 2048,//sizeof(struct per_session_data),
        .rx_buffer_size = 1024,
    },
    { NULL, NULL, 0, 0 }
};
/*
static const struct lws_protocols protocols[] = {
	{
		"lws-ping-test",
		callback_minimal_pingtest,
		0, 0, 0, NULL, 0
	},
	LWS_PROTOCOL_LIST_TERM
};
static void sigint_handler(int sig)
{
	interrupted = 1;
}
*/

int main(int argc, const char **argv)
{
//  client involves threads?
	struct lws_context_creation_info info;
	const char *p;
	int n = 0, logs = LLL_USER | LLL_ERR | LLL_WARN | LLL_NOTICE;
			/* for LLL_ verbosity above NOTICE to be built into lws,
			 * lws must have been configured and built with
			 * -DCMAKE_BUILD_TYPE=DEBUG instead of =RELEASE */
		//	 | LLL_INFO
       /* | LLL_PARSER */ /* | LLL_HEADER */
			/* | LLL_EXT */ /* | LLL_CLIENT */ /* | LLL_LATENCY */
			 //| LLL_DEBUG ;

	//signal(SIGINT, sigint_handler);
	if ((p = lws_cmdline_option(argc, argv, "-d")))
		logs = atoi(p);
/*
  char *ip;
  int port;
  ip = argv[1];
  port = atoi(argv[2]);
    */

	lws_set_log_level(logs, NULL);
	lwsl_user("LWS minimal ws client PING\n");

	memset(&info, 0, sizeof info); /* otherwise uninitialized garbage */
	info.options = LWS_SERVER_OPTION_DO_SSL_GLOBAL_INIT;
	//info.options = LWS_SERVER_OPTION_LIBUV;
	info.port = CONTEXT_PORT_NO_LISTEN; /* we do not run any server */
	info.protocols = protocols;
  //info.timeout_secs = 1;
  info.timeout_secs = 10;
#if defined(LWS_WITH_MBEDTLS) || defined(USE_WOLFSSL)
	/*
	 * OpenSSL uses the system trust store.  mbedTLS has to be told which
	 * CA to trust explicitly.
	 */
	//info.client_ssl_ca_filepath = "./libwebsockets.org.cer";
#endif

	if ((p = lws_cmdline_option(argc, argv, "--protocol")))
		pro = p;

  const char *ip = NULL;
	if ((p = lws_cmdline_option(argc, argv, "--server"))) {
		server_address = p;
    ip = p;
		pro = "lws-minimal";
		ssl_connection |= LCCSCF_ALLOW_SELFSIGNED;
	}

  char shost[1024];
	if ((p = lws_cmdline_option(argc, argv, "--port"))) {
		port = atoi(p);
    snprintf(shost, sizeof(shost), "%s:%d", ip, port);
    server_host = shost;
  }

	info.fd_limit_per_thread = 1 + 1 + 1;

	context = lws_create_context(&info);
	if (!context) {
		lwsl_err("lws init failed\n");
		return 1;
	}

	lws_sul_schedule(context, 0, &sul, connect_cb, 100);

	while (n >= 0 && !interrupted) {
		n = lws_service(context, 0);
    if (global_wsi)
      send_message(global_wsi);
    usleep(1000*1000/5);
  }

	lws_context_destroy(context);
	lwsl_user("Completed\n");

	return 0;
}

